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-   -   Team 706's 2010 Robot Demonstration Video (http://www.chiefdelphi.com/forums/showthread.php?t=82657)

robself705 16-03-2010 18:56

Re: Team 706's 2010 Robot Demonstration Video
 
Quote:

Originally Posted by Sixis (Post 937543)
any chance you guys have vids of your regional? i really want to see your robot in action

Yes actually, it is uploading right now. I will post when its done :)

robself705 17-03-2010 07:39

Re: Team 706's 2010 Robot Demonstration Video
 
Here is the video of us in action, thanks to everyone who made this possible!

http://www.youtube.com/watch?v=tf4SRK7Whm8

GarrettF2395 22-03-2010 21:22

Re: Team 706's 2010 Robot Demonstration Video
 
How are you controling the kicking air piston?
In the vid it looks like you have 3 solinoids feeding it air. Mind explaining your system for me?

robself705 22-03-2010 21:57

Re: Team 706's 2010 Robot Demonstration Video
 
Quote:

Originally Posted by GarrettF2395 (Post 941395)
How are you controling the kicking air piston?
In the vid it looks like you have 3 solinoids feeding it air. Mind explaining your system for me?

Sure, we have one large piston (12in throw, 1 1/2 in diameter) this piston is hooked directly to the kicking foot. The foot is held back by a car door latch rated for 700 lbs of force. Once the kicking foot is latched, the large piston is pressurized (while already half extended). When we are ready to fire the piston attached to the car door latch is pulled, this pulls the door latch open, releasing the kicker and allowing the air in the piston and the surgical tubing to pull the kicking foot and strike the ball. There is also a dump valve for the vacuum which opens right before the kicker is released so the ball can be kicked without the vacuum holding it. There is one more piston that raises and lowers the whole mechanism to adjust for a distance kick, or a ground hugging scoring kick.

GarrettF2395 23-03-2010 01:11

Re: Team 706's 2010 Robot Demonstration Video
 
Wow, thats a really awesome idea. How is it that you guys are able make the piston actuate so quickly though? When we thought of doing something similar, we decided we couldn't get the air OUT of the piston fast enough for it to work. Was this a problem for you guys?

robself705 23-03-2010 07:33

Re: Team 706's 2010 Robot Demonstration Video
 
We actually have the piston pulling the kicker, but its the same issue. That is why we pre charged the piston to 60 psi (so half of the piston is already filled). That way the force is already built up by the air in the piston and it actuates much quicker.

Chris is me 23-03-2010 07:48

Re: Team 706's 2010 Robot Demonstration Video
 
Your kicker sounds very similar to my team's. My guys must be doing something right.

A little tidbit: The optimal precharge distance for a piston is ~30% of its throw. It's not that big a deal, but if it's an easy tweak, you may kick even farther.

What piston do you have on your car door latch? My team spent several days working with a gate latch and various pistons, so it'd be nice to compare notes :)

How much surgical tubing did you guys use?

Bruceb 23-03-2010 08:54

Re: Team 706's 2010 Robot Demonstration Video
 
Well, we are precharging at something like 30% of throw. I think it is an 8 inch piston with something like 2.5 inches precharged. We use a 3/4 inch piston with 1 inch of throw to pull the trigger. Plenty strong. When we use the entire 5 feet of supplied tubing we wrapped it around about 6 times I think. When the kicker is latched the tubing is about 18 inches long and it retracts upon shooting to about 8 inches.
Bruce

robself705 23-03-2010 13:59

Re: Team 706's 2010 Robot Demonstration Video
 
Once we got our bot back (late April, early May), I'm thinking about taking the kicker apart, taking pictures and writing up a tread on how it works because there have been a lot of questions about it. Also, if I was on another team, I would sure love to know exactly how it works!

Mori1578 23-03-2010 14:23

Re: Team 706's 2010 Robot Demonstration Video
 
Team 1578 is actually using the same kicker mechanism! :)
After trying several ideas (spinning leg, a motor-elastic kicker) with no luck, we decided to make a pneumatic-elastic kicker.
We used a pretty large piston, loading the kicker to its place and than used a trunk lock (from a real car.. took 5 or 6 car shops to find one :P) to lock the kicker, and a small piston to open the lock.
Once the kicker goes into the lock, we open the main piston and a moment after the small one for opening the lock.
The surgical tubing was placed on the top of the kicker axis and the piston on the bottom. I think that this is where we were wrong - i think we should get it to the same place on the top with the surgical tubing.
Another thing we should try to change is the size of the piston - we had a -HUGE- problem with them - we got them a week before ship day and didn't have too much time for prototyping, experimenting etc..

Right now we can make a goal from second zone or getting the ball from third zone to first (the ball is not fast enough to go over the small goal bump).

Edit :
btw, i just LOVE your possesion mechanism! using both main methods together is a great idea!

robself705 24-03-2010 13:39

Re: Team 706's 2010 Robot Demonstration Video
 
Quote:

Originally Posted by Mori1578 (Post 941825)
Team 1578 is actually using the same kicker mechanism! :)
btw, i just LOVE your possesion mechanism! using both main methods together is a great idea!

Yeah, it makes it a lot easier to grab balls off the wall and moving balls.


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